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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="classpcl_1_1_p_l_y_writer-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::PLYWriter类 参考</div>  </div>
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<p>Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> Data (PLY) file format writer.  
 <a href="classpcl_1_1_p_l_y_writer.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="ply__io_8h_source.html">ply_io.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::PLYWriter 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_p_l_y_writer.png" usemap="#pcl::PLYWriter_map" alt=""/>
  <map id="pcl::PLYWriter_map" name="pcl::PLYWriter_map">
<area href="classpcl_1_1_file_writer.html" title="Point Cloud Data (FILE) file format writer. Any (FILE) format file reader should implement its virtua..." alt="pcl::FileWriter" shape="rect" coords="0,0,93,24"/>
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</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a3b2eb9e5d72aefef051ec16a63878b3d"><td class="memItemLeft" align="right" valign="top"><a id="a3b2eb9e5d72aefef051ec16a63878b3d"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a3b2eb9e5d72aefef051ec16a63878b3d">PLYWriter</a> ()</td></tr>
<tr class="memdesc:a3b2eb9e5d72aefef051ec16a63878b3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor <br /></td></tr>
<tr class="separator:a3b2eb9e5d72aefef051ec16a63878b3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d0baf53b035753c9f13acfff4a90a1a"><td class="memItemLeft" align="right" valign="top"><a id="a8d0baf53b035753c9f13acfff4a90a1a"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a8d0baf53b035753c9f13acfff4a90a1a">~PLYWriter</a> ()</td></tr>
<tr class="memdesc:a8d0baf53b035753c9f13acfff4a90a1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor <br /></td></tr>
<tr class="separator:a8d0baf53b035753c9f13acfff4a90a1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1295f7282cf40b60528673005509553f"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a1295f7282cf40b60528673005509553f">generateHeaderBinary</a> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation, int valid_points, bool use_camera=true)</td></tr>
<tr class="memdesc:a1295f7282cf40b60528673005509553f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate the header of a PLY v.7 file format  <a href="classpcl_1_1_p_l_y_writer.html#a1295f7282cf40b60528673005509553f">更多...</a><br /></td></tr>
<tr class="separator:a1295f7282cf40b60528673005509553f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ab45e2e58bb9e564a1e8a98da9f95e0"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a9ab45e2e58bb9e564a1e8a98da9f95e0">generateHeaderASCII</a> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation, int valid_points, bool use_camera=true)</td></tr>
<tr class="memdesc:a9ab45e2e58bb9e564a1e8a98da9f95e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate the header of a PLY v.7 file format  <a href="classpcl_1_1_p_l_y_writer.html#a9ab45e2e58bb9e564a1e8a98da9f95e0">更多...</a><br /></td></tr>
<tr class="separator:a9ab45e2e58bb9e564a1e8a98da9f95e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad89118568a800934d248385520ec024d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#ad89118568a800934d248385520ec024d">writeASCII</a> (const std::string &amp;file_name, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), int precision=8, bool use_camera=true)</td></tr>
<tr class="memdesc:ad89118568a800934d248385520ec024d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points, in ASCII format  <a href="classpcl_1_1_p_l_y_writer.html#ad89118568a800934d248385520ec024d">更多...</a><br /></td></tr>
<tr class="separator:ad89118568a800934d248385520ec024d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20d7509dbdb6bf5f418542342714c352"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a20d7509dbdb6bf5f418542342714c352">writeBinary</a> (const std::string &amp;file_name, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), bool use_camera=true)</td></tr>
<tr class="memdesc:a20d7509dbdb6bf5f418542342714c352"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points, in BINARY format  <a href="classpcl_1_1_p_l_y_writer.html#a20d7509dbdb6bf5f418542342714c352">更多...</a><br /></td></tr>
<tr class="separator:a20d7509dbdb6bf5f418542342714c352"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57db9b6f7b1392f3cbcc0d569a792f66"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a57db9b6f7b1392f3cbcc0d569a792f66">write</a> (const std::string &amp;file_name, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</td></tr>
<tr class="memdesc:a57db9b6f7b1392f3cbcc0d569a792f66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points  <a href="classpcl_1_1_p_l_y_writer.html#a57db9b6f7b1392f3cbcc0d569a792f66">更多...</a><br /></td></tr>
<tr class="separator:a57db9b6f7b1392f3cbcc0d569a792f66"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cdc16b61f400264180ed31536dd655a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a1cdc16b61f400264180ed31536dd655a">write</a> (const std::string &amp;file_name, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), bool binary=false, bool use_camera=true)</td></tr>
<tr class="memdesc:a1cdc16b61f400264180ed31536dd655a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points  <a href="classpcl_1_1_p_l_y_writer.html#a1cdc16b61f400264180ed31536dd655a">更多...</a><br /></td></tr>
<tr class="separator:a1cdc16b61f400264180ed31536dd655a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f5106374d08b068a5e64309a74bb8a3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a7f5106374d08b068a5e64309a74bb8a3">write</a> (const std::string &amp;file_name, const pcl::PCLPointCloud2::ConstPtr &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), bool binary=false, bool use_camera=true)</td></tr>
<tr class="memdesc:a7f5106374d08b068a5e64309a74bb8a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points  <a href="classpcl_1_1_p_l_y_writer.html#a7f5106374d08b068a5e64309a74bb8a3">更多...</a><br /></td></tr>
<tr class="separator:a7f5106374d08b068a5e64309a74bb8a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61b2d3cb7779daf4698e4dc462ae7be3"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a61b2d3cb7779daf4698e4dc462ae7be3"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#a61b2d3cb7779daf4698e4dc462ae7be3">write</a> (const std::string &amp;file_name, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud, bool binary=false, bool use_camera=true)</td></tr>
<tr class="memdesc:a61b2d3cb7779daf4698e4dc462ae7be3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a PLY file containing n-D points  <a href="classpcl_1_1_p_l_y_writer.html#a61b2d3cb7779daf4698e4dc462ae7be3">更多...</a><br /></td></tr>
<tr class="separator:a61b2d3cb7779daf4698e4dc462ae7be3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_file_writer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_file_writer')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_file_writer.html">pcl::FileWriter</a></td></tr>
<tr class="memitem:aa1a081646615999827280a8cae0158d7 inherit pub_methods_classpcl_1_1_file_writer"><td class="memItemLeft" align="right" valign="top"><a id="aa1a081646615999827280a8cae0158d7"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_writer.html#aa1a081646615999827280a8cae0158d7">FileWriter</a> ()</td></tr>
<tr class="memdesc:aa1a081646615999827280a8cae0158d7 inherit pub_methods_classpcl_1_1_file_writer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor <br /></td></tr>
<tr class="separator:aa1a081646615999827280a8cae0158d7 inherit pub_methods_classpcl_1_1_file_writer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93ef3fe00cbeebcc804065f4ad2ec5ea inherit pub_methods_classpcl_1_1_file_writer"><td class="memItemLeft" align="right" valign="top"><a id="a93ef3fe00cbeebcc804065f4ad2ec5ea"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_writer.html#a93ef3fe00cbeebcc804065f4ad2ec5ea">~FileWriter</a> ()</td></tr>
<tr class="memdesc:a93ef3fe00cbeebcc804065f4ad2ec5ea inherit pub_methods_classpcl_1_1_file_writer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a93ef3fe00cbeebcc804065f4ad2ec5ea inherit pub_methods_classpcl_1_1_file_writer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae61e462178e5ebdb5acec2bd1f89d188 inherit pub_methods_classpcl_1_1_file_writer"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_writer.html#ae61e462178e5ebdb5acec2bd1f89d188">write</a> (const std::string &amp;file_name, const pcl::PCLPointCloud2::ConstPtr &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</td></tr>
<tr class="memdesc:ae61e462178e5ebdb5acec2bd1f89d188 inherit pub_methods_classpcl_1_1_file_writer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a FILE file containing n-D points  <a href="classpcl_1_1_file_writer.html#ae61e462178e5ebdb5acec2bd1f89d188">更多...</a><br /></td></tr>
<tr class="separator:ae61e462178e5ebdb5acec2bd1f89d188 inherit pub_methods_classpcl_1_1_file_writer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b3c314e7b4343d8f3f2d52565e0f431 inherit pub_methods_classpcl_1_1_file_writer"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a5b3c314e7b4343d8f3f2d52565e0f431 inherit pub_methods_classpcl_1_1_file_writer"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_writer.html#a5b3c314e7b4343d8f3f2d52565e0f431">write</a> (const std::string &amp;file_name, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud, const bool binary=false)</td></tr>
<tr class="memdesc:a5b3c314e7b4343d8f3f2d52565e0f431 inherit pub_methods_classpcl_1_1_file_writer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save point cloud data to a FILE file containing n-D points  <a href="classpcl_1_1_file_writer.html#a5b3c314e7b4343d8f3f2d52565e0f431">更多...</a><br /></td></tr>
<tr class="separator:a5b3c314e7b4343d8f3f2d52565e0f431 inherit pub_methods_classpcl_1_1_file_writer"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:ab627fa331f61d35fdcd24953d0bfdf46"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_l_y_writer.html#ab627fa331f61d35fdcd24953d0bfdf46">generateHeader</a> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation, bool binary, bool use_camera, int valid_points)</td></tr>
<tr class="memdesc:ab627fa331f61d35fdcd24953d0bfdf46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a PLY header.  <a href="classpcl_1_1_p_l_y_writer.html#ab627fa331f61d35fdcd24953d0bfdf46">更多...</a><br /></td></tr>
<tr class="separator:ab627fa331f61d35fdcd24953d0bfdf46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e23518ec513d57bfabb46bbe9995bc2"><td class="memItemLeft" align="right" valign="top"><a id="a9e23518ec513d57bfabb46bbe9995bc2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>writeContentWithCameraASCII</b> (int nr_points, int point_size, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation, std::ofstream &amp;fs)</td></tr>
<tr class="separator:a9e23518ec513d57bfabb46bbe9995bc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae57437d7a545f7d89db6f962c95feea2"><td class="memItemLeft" align="right" valign="top"><a id="ae57437d7a545f7d89db6f962c95feea2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>writeContentWithRangeGridASCII</b> (int nr_points, int point_size, const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, std::ostringstream &amp;fs, int &amp;nb_valid_points)</td></tr>
<tr class="separator:ae57437d7a545f7d89db6f962c95feea2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> Data (PLY) file format writer. </p>
<dl class="section author"><dt>作者</dt><dd>Nizar Sallem </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ab627fa331f61d35fdcd24953d0bfdf46"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab627fa331f61d35fdcd24953d0bfdf46">&#9670;&nbsp;</a></span>generateHeader()</h2>

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          <td class="memname">std::string pcl::PLYWriter::generateHeader </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>binary</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>valid_points</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Generate a PLY header. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">binary</td><td>whether the PLY file should be saved as binary data (true) or ascii (false) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a9ab45e2e58bb9e564a1e8a98da9f95e0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9ab45e2e58bb9e564a1e8a98da9f95e0">&#9670;&nbsp;</a></span>generateHeaderASCII()</h2>

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          <td class="memname">std::string pcl::PLYWriter::generateHeaderASCII </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>valid_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Generate the header of a PLY v.7 file format </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor data acquisition origin (translation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor data acquisition origin (rotation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">valid_points</td><td>number of valid points (finite ones for range_grid and all of them for camer) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>if set to true then PLY file will use element camera else element range_grid will be used. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      {</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_l_y_writer.html#ab627fa331f61d35fdcd24953d0bfdf46">generateHeader</a> (cloud, origin, orientation, <span class="keyword">false</span>, use_camera, valid_points));</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_p_l_y_writer_html_ab627fa331f61d35fdcd24953d0bfdf46"><div class="ttname"><a href="classpcl_1_1_p_l_y_writer.html#ab627fa331f61d35fdcd24953d0bfdf46">pcl::PLYWriter::generateHeader</a></div><div class="ttdeci">std::string generateHeader(const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation, bool binary, bool use_camera, int valid_points)</div><div class="ttdoc">Generate a PLY header.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1295f7282cf40b60528673005509553f">&#9670;&nbsp;</a></span>generateHeaderBinary()</h2>

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          <td class="memname">std::string pcl::PLYWriter::generateHeaderBinary </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>valid_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Generate the header of a PLY v.7 file format </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor data acquisition origin (translation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor data acquisition origin (rotation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">valid_points</td><td>number of valid points (finite ones for range_grid and all of them for camer) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>if set to true then PLY file will use element camera else element range_grid will be used. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;      {</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_l_y_writer.html#ab627fa331f61d35fdcd24953d0bfdf46">generateHeader</a> (cloud, origin, orientation, <span class="keyword">true</span>, use_camera, valid_points));</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1cdc16b61f400264180ed31536dd655a">&#9670;&nbsp;</a></span>write() <span class="overload">[1/4]</span></h2>

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          <td class="memname">int pcl::PLYWriter::write </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em> = <code>Eigen::Vector4f::Zero&#160;()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em> = <code>Eigen::Quaternionf::Identity&#160;()</code>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>binary</em> = <code>false</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<p>Save point cloud data to a PLY file containing n-D points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor acquisition origin </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">binary</td><td>set to true if the file is to be written in a binary PLY format, false (default) for ASCII </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>set to true to use camera element and false to use range_grid element </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;      {</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;        <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1_p_l_y_writer.html#a20d7509dbdb6bf5f418542342714c352">writeBinary</a> (file_name, cloud, origin, orientation, use_camera));</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1_p_l_y_writer.html#ad89118568a800934d248385520ec024d">writeASCII</a> (file_name, cloud, origin, orientation, 8, use_camera));</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_p_l_y_writer_html_a20d7509dbdb6bf5f418542342714c352"><div class="ttname"><a href="classpcl_1_1_p_l_y_writer.html#a20d7509dbdb6bf5f418542342714c352">pcl::PLYWriter::writeBinary</a></div><div class="ttdeci">int writeBinary(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), bool use_camera=true)</div><div class="ttdoc">Save point cloud data to a PLY file containing n-D points, in BINARY format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_l_y_writer_html_ad89118568a800934d248385520ec024d"><div class="ttname"><a href="classpcl_1_1_p_l_y_writer.html#ad89118568a800934d248385520ec024d">pcl::PLYWriter::writeASCII</a></div><div class="ttdeci">int writeASCII(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), int precision=8, bool use_camera=true)</div><div class="ttdoc">Save point cloud data to a PLY file containing n-D points, in ASCII format</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a57db9b6f7b1392f3cbcc0d569a792f66">&#9670;&nbsp;</a></span>write() <span class="overload">[2/4]</span></h2>

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          <td class="memname">int pcl::PLYWriter::write </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em> = <code>Eigen::Vector4f::Zero&#160;()</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em> = <code>Eigen::Quaternionf::Identity&#160;()</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>binary</em> = <code>false</code>&#160;</td>
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          <td>)</td>
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<p>Save point cloud data to a PLY file containing n-D points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor acquisition origin </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">binary</td><td>set to true if the file is to be written in a binary PLY format, false (default) for ASCII </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_file_writer.html#a21be1af9921c4a4661905263ca50eaa6">pcl::FileWriter</a>.</p>
<div class="fragment"><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      {</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;        <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1_p_l_y_writer.html#a20d7509dbdb6bf5f418542342714c352">writeBinary</a> (file_name, cloud, origin, orientation, <span class="keyword">true</span>));</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1_p_l_y_writer.html#ad89118568a800934d248385520ec024d">writeASCII</a> (file_name, cloud, origin, orientation, 8, <span class="keyword">true</span>));</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;      }</div>
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<a id="a7f5106374d08b068a5e64309a74bb8a3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7f5106374d08b068a5e64309a74bb8a3">&#9670;&nbsp;</a></span>write() <span class="overload">[3/4]</span></h2>

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          <td class="memname">int pcl::PLYWriter::write </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::PCLPointCloud2::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em> = <code>Eigen::Vector4f::Zero&#160;()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em> = <code>Eigen::Quaternionf::Identity&#160;()</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>binary</em> = <code>false</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<p>Save point cloud data to a PLY file containing n-D points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message (boost shared pointer) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor acquisition origin </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">binary</td><td>set to true if the file is to be written in a binary PLY format, false (default) for ASCII </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>set to true to use camera element and false to use range_grid element </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;      {</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_l_y_writer.html#a57db9b6f7b1392f3cbcc0d569a792f66">write</a> (file_name, *cloud, origin, orientation, binary, use_camera));</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_p_l_y_writer_html_a57db9b6f7b1392f3cbcc0d569a792f66"><div class="ttname"><a href="classpcl_1_1_p_l_y_writer.html#a57db9b6f7b1392f3cbcc0d569a792f66">pcl::PLYWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</div><div class="ttdoc">Save point cloud data to a PLY file containing n-D points</div><div class="ttdef"><b>Definition:</b> ply_io.h:624</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a61b2d3cb7779daf4698e4dc462ae7be3">&#9670;&nbsp;</a></span>write() <span class="overload">[4/4]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">int pcl::PLYWriter::write </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>binary</em> = <code>false</code>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
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          <td>)</td>
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<p>Save point cloud data to a PLY file containing n-D points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">pcl::PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">binary</td><td>set to true if the file is to be written in a binary PLY format, false (default) for ASCII </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>set to true to use camera element and false to use range_grid element </td></tr>
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<div class="fragment"><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      {</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;        Eigen::Vector4f origin = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;        Eigen::Quaternionf orientation = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;        pcl::toPCLPointCloud2 (cloud, blob);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;        <span class="comment">// Save the data</span></div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1_p_l_y_writer.html#a57db9b6f7b1392f3cbcc0d569a792f66">write</a> (file_name, blob, origin, orientation, binary, use_camera));</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad89118568a800934d248385520ec024d">&#9670;&nbsp;</a></span>writeASCII()</h2>

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          <td class="memname">int pcl::PLYWriter::writeASCII </td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em> = <code>Eigen::Vector4f::Zero()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em> = <code>Eigen::Quaternionf::Identity()</code>, </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>precision</em> = <code>8</code>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
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<p>Save point cloud data to a PLY file containing n-D points, in ASCII format </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor data acquisition origin (translation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor data acquisition origin (rotation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">precision</td><td>the specified output numeric stream precision (default: 8) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>if set to true then PLY file will use element camera else element range_grid will be used. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a20d7509dbdb6bf5f418542342714c352">&#9670;&nbsp;</a></span>writeBinary()</h2>

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          <td class="memname">int pcl::PLYWriter::writeBinary </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em> = <code>Eigen::Vector4f::Zero()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em> = <code>Eigen::Quaternionf::Identity()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_camera</em> = <code>true</code>&#160;</td>
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<p>Save point cloud data to a PLY file containing n-D points, in BINARY format </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the output file name </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>the sensor data acquisition origin (translation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientation</td><td>the sensor data acquisition origin (rotation) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">use_camera</td><td>if set to true then PLY file will use element camera else element range_grid will be used </td></tr>
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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/io/<a class="el" href="ply__io_8h_source.html">ply_io.h</a></li>
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